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Welcome to the PyIMCLSTS wiki!

[This page is mainly intended to explain the package structure for developers.] This tool reads the IMC schema from a XML file, locally creates files containing the messages and connects (imports) the main global machinery.

See /example to check an example implementation of the Follow Reference maneuver.

End-User

• Fancying a virtual env? (Not needed. Just in case you want to isolate it from your python setup)

$ sudo apt install python3.8-venv
$ python3 -m venv tutorial_env
$ source tutorial_env/bin/activate

• To use:

$ pip3 install pyimclsts
$ # or, if you are cloning the repo, from the folder pyproject.toml is located:
$ pip3 install .

• Choose a folder and have a version of the IMC schema. Otherwise, it will fetch the latest IMC version from the LSTS git repository. Extract messages locally, with:

$ python3 -m pyimclsts.extract

This will locally extract the IMC.xml as python classes. You will see a folder called pyimc_generated which contains base messages, bitfields and enumerations from the IMC.xml file. They can be locally loaded using, for example:

import pyimc_generated as pg

In the top-level module, you will find some functions to allow you to connect to a vehicle and subscribe to messages, namely, a subscriber class.

import pyimclsts.network as n

conn = n.tcp_interface('localhost', 6006)
sub = n.subscriber(conn)

Check /example for a better example.